CN108988720B - Three-phase asynchronous motor controller based on slip automatic optimization and control method - Google Patents

Three-phase asynchronous motor controller based on slip automatic optimization and control method Download PDF

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CN108988720B
CN108988720B CN201810965257.9A CN201810965257A CN108988720B CN 108988720 B CN108988720 B CN 108988720B CN 201810965257 A CN201810965257 A CN 201810965257A CN 108988720 B CN108988720 B CN 108988720B
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stator
value
motor
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CN108988720A (en
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廉晨龙
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Zhejiang Jinxi Electromechanical Technology Co., Ltd
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Zhejiang Jinzhou Electrical Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01—Asynchronous machines

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a three-phase asynchronous motor controller based on slip automatic optimization and a control method, belonging to the technical field of asynchronous motor control and solving the problem of improving the motor efficiency and the stability at the same timesStator resistance value RsMotor rotor inductance value LrMotor rotor resistance RrThe motor rotor and stator slip s and the current and voltage of the three-phase asynchronous motor are sampled, (2) the sampled current value is converted to the stator α, β coordinate system, and (3) according to the formula, A is usβisα‑usαisβ‑ωs[Lsis 2+Lr(usαisα+usβisβ‑Rsis 2)/(Rr/s)]So that A → 0, calculate ωs(ii) a (4) Rotating the stator voltage vector obtained by calculation by angular frequency omegasAnd feeding back to the control circuit. Stator voltage vector rotation angular frequency omega controlled by PID regulator IsSo that A → 0 controls the motor to stably run as required. Thereby improving the robustness and stability of the system.

Description

Three-phase asynchronous motor controller based on slip automatic optimization and control method
Technical Field
The invention belongs to the technical field of asynchronous motor control, and relates to a three-phase asynchronous motor controller based on slip automatic optimization and a control method.
Background
Currently, in three-phase asynchronous motor vector control, three types of control strategies are generally adopted: one is rotor field localization; the second type is stator flux linkage tracking; the third type is slip frequency control.
In the rotor magnetic field positioning control mode, a sensor is additionally arranged on a rotor or rotor angle estimation is carried out according to parameters such as resistance, inductance and the like of a motor, then stator current is converted into a rotor coordinate system for decoupling, and required voltage is obtained through PID control and converted into the stator side. The control mode has large calculation amount, complex control frame and large influence by motor parameters, particularly resistance parameters of the motor. In the stator flux linkage tracking control mode, the problem of large influence of motor resistance parameters also exists, and in the stator flux linkage tracking control mode, current is easy to overshoot, unstable factors exist, and a current detection link needs to be added to ensure normal and reliable operation of the system.
The Chinese patent document discloses an asynchronous motor vector control magnetic field orientation correction method based on torque observation with application number 201410507248.7, which comprises an excitation current loop, a torque current loop, a rotor magnetic field orientation link, a stator magnetic chain identification link, a torque observation link, a space vector modulation link, a three-phase full-bridge inverter and an asynchronous motor, wherein the magnetic field orientation correction is realized by utilizing a torque observation difference value under dq and αβ coordinate systems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a three-phase asynchronous motor controller based on slip automatic optimization and a control method. The controller and the control method solve the problem of how to improve the motor efficiency and the stability.
The invention is realized by the following technical scheme: a three-phase asynchronous motor controller based on slip automatic optimization comprises
And a PID regulator II: for obtaining angular frequency command omega*Frequency of rotation angle omega of rotorrIs (d) difference errωAnd generates corresponding stator reference voltage u after regulations；
A speed integrator: for rotating angular frequency omega according to stator voltage vectorsObtaining a corresponding control angle theta after integration;
sine-cosine coordinate converter: with the output of a second and a velocity integrator of a PID regulatorOutput end connected to the stator reference voltage usAnd the stator control angle theta generates and outputs a reference voltage corresponding to the α - β coordinate system, namely a stator α shaft voltage value usαAnd stator β axis voltage value usβ；
The SVM modulator is connected with the output end of the sine-cosine coordinate converter and is used for regulating the voltage value u according to the axis voltage of the stator αsαAnd stator β axis voltage value usβCarrying out corresponding space vector modulation and outputting three-phase duty ratio data TaTbTc；
PWM inverter: connected with the output end of the SVM modulator and used for generating three-phase duty ratio data TaTbTcAnd generating and outputting a corresponding PWM driving waveform for driving the motor to work.
It is characterized by also comprising
an abc/αβ converter for performing abc/αβ coordinate transformation on the collected three-phase current signals of the motor to generate a stator α shaft current value isαAnd stator β axis current value isβ；
The output ends of the ASO observer, which are connected with the sine and cosine coordinate converter and the abc/αβ converter, are connected, the input end of the ASO observer is also connected with a rotor rotation angular frequency sensor, and the output end of the ASO observer is connected with a PID regulator I which is used for regulating the axial current value i of the stator αsαStator α axis voltage value usαStator β axis current value isβStator β axis voltage value uβStator voltage vector rotation angular frequency omega of feedbacksIn combination with the corresponding rotor rotation angular frequency omegarDetermining motor parameters and control constraint requirements to generate and output an A value to a PID regulator I;
a first PID regulator: the method is used for adjusting the output A value of the ASO observer to generate the corresponding stator voltage vector rotation angular frequency omegasAnd fed back to the velocity integrator and ASO observer.
The ASO observer receives data output by the abc/αβ converter, the sine-cosine coordinate converter, the rotor rotation angular frequency sensor and the PID regulator, and the data are based on the stator α axis current value isαStator α axis voltage value usαStator β axis current value isβStator β axis voltage value usβPID regulator-feedback modulated stator voltage vector rotation angular frequency omegasAnd rotor rotation angular frequency omegarAnd generating a corresponding A value by combining the motor parameters and the control constraint requirements, and simultaneously sending the A value to the PID regulator I. A first closed loop feedback circuit is formed between the PID regulator I and the ASO observer, and a second closed loop circuit is formed by the ASO observer, the PID regulator I, the speed integrator and the sine-cosine coordinate converter. An ASO observer, a PID regulator I, a speed integrator, a sine and cosine coordinate converter, an SVM modulator, a PWM inverter and a current form a third closed loop. Ceaseless feedback correction modulation automatic adjustment stator voltage vector rotation angular frequency omega based on three closed loop circuitssAnd the feedback is sent back to the control node to realize the closed-loop control. On the basis of ensuring the control efficiency of the three-phase asynchronous motor, the robustness and the stability of the system are improved. Simultaneously for data T according to the three-phase duty ratioaTbTcAnd generating and outputting corresponding PWM driving waveforms to enable the three-phase asynchronous motor to stably operate according to the requirement of control constraint.
In the three-phase asynchronous motor controller based on automatic slip optimization, the second PID regulator is connected to obtain the rotor rotation angular frequency omegarThe difference err received by the rotor rotation angular frequency sensor and the PID regulatorωFor obtaining angular frequency command omega*Frequency of rotation angle omega of rotorrThe difference of (a). PID adjustment is performed according to the difference value between the rotor rotation angular frequency and the command angular frequency, so that the stator reference voltage u generated by the fact can be more approximatesAnd the method is closer to actual data, so that later calculation is more accurate.
In the above-mentioned three-phase asynchronous motor controller based on slip automatic optimization, the ASO observer is based on the formula a ═ usβisα-usαisβ-ωs[Lsis 2+Lr(usαisα+usβisβ-Rsis 2)/(Rr/s)]Calculating the value A; PID regulator controlAdjusting A → 0, calculating the angular rotation frequency omega of stator voltage vectors；
In the formula: a is the output value of the ASO observer, RsIs the motor stator resistance, LsFor motor stator inductance value, RrIs the motor rotor resistance value, LrIs the inductance of the motor rotor, s is the motor stator-rotor slip, omegasFor stator voltage vector rotation angular frequency, isIs stator current, isαIs the stator α axis current value, isβIs the stator β axis current value, usαIs the stator α axis voltage value, usβIs the stator β shaft voltage value.
The stator voltage vector rotation angular frequency omega is controlled by a PID regulator I according to the value AsAnd A → 0, namely controlling the motor to stably run according to the corresponding constraint requirement. Thereby further improving the robustness and stability of the system.
A three-phase asynchronous motor control method based on slip automatic optimization is characterized by comprising the following steps:
(1) obtaining motor stator inductance LsStator resistance value RsMotor rotor inductance value LrMotor rotor resistance RrAnd the rotor slip s of the stator of the motor, and the current, voltage to the three-phase asynchronous machine are sampled;
(2) converting the sampled current values to a stator α, β coordinate system;
(3) according to the formula: a ═ usβisα-usαisβ-ωs[Lsis 2+Lr(usαisα+usβisβ-Rsis 2)/(Rr/s)]So that A → 0, calculate ωs；
In the formula: a is the output value of the ASO observer, RsIs the motor stator resistance, LsFor motor stator inductance value, RrIs the motor rotor resistance value, LrIs the inductance of the motor rotor, s is the motor stator-rotor slip, omegasFor stator voltage vector rotation angular frequency, isIs stator current, isαIs the stator α axis current value, isβIs the stator β axis current value, usαIs the stator α axis voltage value, usβIs the stator β shaft voltage value;
(4) rotating the stator voltage vector obtained by calculation by angular frequency omegasAnd feeding back to the speed integrator and the ASO observer to meet the stable operation of the motor under the corresponding control constraint condition.
The stator voltage vector rotation angular frequency omega is controlled by a PID regulator I according to the value AsAnd A → 0, namely controlling the motor to stably run according to the corresponding constraint requirement. When A is less than 0, the motor is in a field weakening control state; when A is greater than 0, the motor is in a magnetizing control state. The larger | a | is, the stronger the corresponding magnetization increasing or weakening effect is. The expression shows the value of A and the resistance R of the motor statorsStator inductance L of motorsResistance value R of motor rotorrMotor rotor inductance value LrThe rotor slip s of the motor is related to the measurement precision of current and voltage, and the ASO observer does not need to calculate the rotor angle. Thereby further improving the robustness and stability of the system.
In the three-phase asynchronous motor control method based on slip automatic optimization, the calculated value A is modulated by a PID regulator to obtain the stator voltage vector rotation angular frequency omegasAnd feeding back to the velocity integrator and the ASO observer. The stator voltage vector rotation angular frequency omega is controlled by a PID regulator I according to the value AsAnd A → 0, namely controlling the motor to stably run according to the corresponding constraint requirement.
In the three-phase asynchronous motor control method based on automatic slip optimization, the method further comprises the step of collecting the rotor rotation angular frequency omega through a rotor rotation angular frequency sensorrAngular frequency of rotation of rotor omegarAnd angular frequency command omega*Form a difference errωDifference errωGenerating a stator reference voltage u by a PID regulator IIs. PID adjustment is performed according to the difference value between the rotor rotation angular frequency and the command angular frequency, so that the stator reference voltage u generated by the fact can be more approximatesMore approximate to actual data, so that later-period calculation is realizedAnd is more accurate.
In the above three-phase asynchronous motor control method based on slip automatic optimization, the stator voltage vector rotation angular frequency ωsGenerating a stator control angle theta through a speed integrator; stator control angle theta and stator reference voltage usGenerating stator α axis voltage value u by sine-cosine coordinate convertersαAnd stator β axis voltage value usβα axial voltage u of statorsαStator β axis voltage value usβCarrying out corresponding space vector modulation through an SVM modulator to generate and output three-phase duty ratio data TaTbTc(ii) a Three-phase duty ratio data TaTbTcAnd generating and outputting a corresponding PWM driving waveform to drive the motor through the PWM inverter. By rotating the angular frequency ω by vector to the stator voltagesThe motor can stably operate under the control of the motor, and the operation of the weak magnetic area is more reasonable and convenient to control.
In the three-phase asynchronous motor control method based on automatic slip optimization, abc/αβ coordinate transformation is carried out on motor three-phase current sampling signals to generate a stator α shaft current value isαAnd stator β axis current value isβAnd sending the current values to an ASO observer, collecting motor phase current and converting the motor phase current into an α - β coordinate system to obtain a stator α shaft current value isαAnd stator β axis current value isβData support is provided for the ASO observer.
In the above three-phase asynchronous motor control method based on slip automatic optimization, the stator voltage vector rotation angular frequency ωsStator α axis voltage value usαStator β axis voltage value usβStator α axis current value isαStator β axis current value isβAnd rotor rotation angular frequency omegarAnd generating and outputting the A value to a first PID regulator through an ASO observer. The ASO observer simplifies the algorithm and the control framework, reduces the complexity of the control algorithm and improves the reliability of the system. The rotation speed of the asynchronous motor is slightly changed along with different loads, and the rotation speed of the rotor is lower than that of the magnetic field of the stator. Therefore, based on the principle of asynchronous motors, the rotation angular frequency omega of the rotor needs to be controlledrAnd an ASO observer is carried out to make the obtained data more reliable.
Compared with the prior art, the three-phase asynchronous motor controller and the control method based on automatic slip optimization have the following advantages:
1. the invention adjusts the stator voltage vector rotation angular frequency omega automatically based on the non-stop feedback correction modulation of the three closed loop circuitssAnd the feedback is sent back to the control node to realize the closed-loop control. On the basis of ensuring the control efficiency of the three-phase asynchronous motor, the robustness and the stability of the system are improved. Simultaneously for data T according to the three-phase duty ratioaTbTcAnd generating and outputting corresponding PWM driving waveforms to enable the three-phase asynchronous motor to stably operate according to the requirement of control constraint.
2. The invention needs to rotate the angular frequency omega to the rotor based on the principle of the asynchronous motorrGenerating a stator reference voltage u by performing an ASO observer and using a PID regulator for secondary regulationsThe later data obtained by the method is more reliable, is close to the actual working data of the asynchronous motor, and is more stable to control.
3. The PID regulator I and the PID regulator II control and regulate the data more accurately, regulate the data more quickly and control the data more stably.
Drawings
Fig. 1 is a control block diagram of the present invention.
Fig. 2 shows the waveforms of the rotation speed and the torque during the starting process of the motor.
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described with reference to the drawings, but the present invention is not limited to these embodiments.
1-2, the three-phase asynchronous motor controller based on automatic slip optimization comprises
And a PID regulator II: for obtaining angular frequency command omega*Frequency of rotation angle omega of rotorrIs (d) difference errωAnd generates corresponding stator reference voltage u after regulations；
A speed integrator: for rotating angular frequency omega according to stator voltage vectorsAfter integration, corresponding control is obtainedAn angle θ;
sine-cosine coordinate converter: connected with the output ends of the PID regulator II and the speed integrator and used for generating a reference voltage u according to the statorsAnd the stator control angle theta generates and outputs a reference voltage corresponding to the α - β coordinate system, namely a stator α shaft voltage value usαAnd stator β axis voltage value usβ；
The SVM modulator is connected with the output end of the sine-cosine coordinate converter and is used for regulating the voltage value u according to the axis voltage of the stator αsαAnd stator β axis voltage value usβCarrying out corresponding space vector modulation and outputting three-phase duty ratio data TaTbTc；
PWM inverter: connected with the output end of the SVM modulator and used for generating three-phase duty ratio data TaTbTcAnd generating and outputting a corresponding PWM driving waveform for driving the motor to work.
an abc/αβ converter for performing abc/αβ coordinate transformation on the collected three-phase current signals of the motor to generate a stator α shaft current value isαAnd stator β axis current value isβ；
The output ends of the ASO observer, which are connected with the sine and cosine coordinate converter and the abc/αβ converter, are connected, the input end of the ASO observer is also connected with a rotor rotation angular frequency sensor, and the output end of the ASO observer is connected with a PID regulator I which is used for regulating the axial current value i of the stator αsαStator α axis voltage value usαStator β axis current value isβStator β axis voltage value usβStator voltage vector rotation angular frequency omega of feedbacksIn combination with the corresponding rotor rotation angular frequency omegarDetermining motor parameters and control constraint requirements to generate and output an A value to a PID regulator I;
a first PID regulator: the method is used for adjusting the output A value of the ASO observer to generate the corresponding stator voltage vector rotation angular frequency omegasAnd fed back to the velocity integrator and ASO observer.
The PID regulator II is connected with the rotor to obtain the angular frequency omega of the rotor rotationrThe difference err received by the rotor rotation angular frequency sensor and the PID regulatorωFor obtaining angular frequency command omega*Frequency of rotation angle omega of rotorrThe difference of (a). PID adjustment is performed according to the difference value between the rotor rotation angular frequency and the command angular frequency, so that the stator reference voltage u generated by the fact can be more approximatesAnd the method is closer to actual data, so that later calculation is more accurate.
The ASO observer is based on the formula A ═ usβisα-usαisβ-ωs[Lsis 2+Lr(usαisα+usβisβ-Rsis 2)/(Rr/s)]Calculating the value A; PID regulator-control regulation makes A → 0, calculate and generate stator voltage vector rotation angular frequency omegas；
In the formula: a is the output value of the ASO observer, RsIs the motor stator resistance, LsFor motor stator inductance value, RrIs the motor rotor resistance value, LrIs the inductance of the motor rotor, s is the motor stator-rotor slip, omegasFor stator voltage vector rotation angular frequency, isIs stator current, isαIs the stator α axis current value, isβIs the stator β axis current value, usαIs the stator α axis voltage value, usβIs the stator β shaft voltage value.
The stator voltage vector rotation angular frequency omega is controlled by a PID regulator I according to the value AsAnd A → 0, namely controlling the motor to stably run according to the corresponding constraint requirement. Thereby further improving the robustness and stability of the system.
The ASO observer receives data output by the abc/αβ converter, the sine-cosine coordinate converter, the rotor rotation angular frequency sensor and the PID regulator, and the data are based on the stator α axis current value isαStator α axis voltage value usαStator β axis current value isβStator β axis voltage value usβPID regulator-feedback modulated stator voltage vector rotation angular frequency omegasAnd rotor rotation angular frequency omegarAnd generating a corresponding A value by combining the motor parameters and the control constraint requirements, and simultaneously sending the A value to the PID regulator I. PID regulator one and ASO ObservationA first closed loop feedback circuit is formed among the devices, and an ASO observer, a PID regulator I, a speed integrator and a sine-cosine coordinate converter form a second closed loop circuit. An ASO observer, a PID regulator I, a speed integrator, a sine and cosine coordinate converter, an SVM modulator, a PWM inverter and a current form a third closed loop. Ceaseless feedback correction modulation automatic adjustment stator voltage vector rotation angular frequency omega based on three closed loop circuitssAnd the feedback is sent back to the control node to realize the closed-loop control. On the basis of ensuring the control efficiency of the three-phase asynchronous motor, the robustness and the stability of the system are improved. Simultaneously for data T according to the three-phase duty ratioaTbTcAnd generating and outputting corresponding PWM driving waveforms to enable the three-phase asynchronous motor to stably operate according to the requirement of control constraint. In the figure, AC denotes an asynchronous three-phase motor iuiyRepresenting the collected motor current, PG rotor rotation angular frequency sensor for collecting rotor rotation angular frequency omegarThe abc/αβ converter performs coordinate transformation according to the collected three-phase current of the motor to form a stator α shaft current value isαAnd stator β axis current value isβ。
The stator voltage vector rotation angular frequency omega is controlled by a PID regulator I according to the value AsAnd A → 0, namely controlling the motor to stably run according to the corresponding constraint requirement. When A is less than 0, the motor is in a field weakening control state; when A is greater than 0, the motor is in a magnetizing control state. The larger | a | is, the stronger the corresponding magnetization increasing or weakening effect is. The expression shows the value of A and the resistance R of the motor statorsStator inductance L of motorsResistance value R of motor rotorrMotor rotor inductance value LrThe rotor slip s of the motor is related to the measurement precision of current and voltage, and the ASO observer does not need to calculate the rotor angle. Thereby further improving the robustness and stability of the system. Fig. 2 shows the motor operation results achieved by the controller and the control method, wherein L1 represents the motor starting process rotating speed waveform, and L2 represents the motor starting process torque waveform. The correspondence between L1 and L2 can be visually seen as shown in the figure: motor starting process rotating speed and torque wave realized according to the controller and the control methodThe shape shows that the magnetic valve can also run in a weak magnetic control state, is reasonable to control, is rapid and stable, and has high later-stage stability.
A three-phase asynchronous motor control method based on slip automatic optimization is characterized by comprising the following steps:
(1) obtaining motor stator inductance LsStator resistance value RsMotor rotor inductance value LrMotor rotor resistance RrAnd the rotor slip s of the stator of the motor, and the current, voltage to the three-phase asynchronous machine are sampled;
(2) converting the sampled current values to a stator α, β coordinate system;
(3) according to the formula: a ═ usβisα-usαisβ-ωs[Lsis 2+Lr(usαisα+usβisβ-Rsis 2)/(Rr/s)]So that A → 0, calculate ωs；
In the formula: a is the output value of the ASO observer, RsIs the motor stator resistance, LsFor motor stator inductance value, RrIs the motor rotor resistance value, LrIs the inductance of the motor rotor, s is the motor stator-rotor slip, omegasFor stator voltage vector rotation angular frequency, isIs stator current, isαIs the stator α axis current value, isβIs the stator β axis current value, usαIs the stator α axis voltage value, usβIs the stator β shaft voltage value;
(4) rotating the stator voltage vector obtained by calculation by angular frequency omegasAnd feeding back to the speed integrator and the ASO observer to meet the stable operation of the motor under the corresponding control constraint condition.
The specific pushing process of the formula in step 3 is as follows:
where λ is the flux linkage and p is the differential operator.
The equation of the three-phase asynchronous motor is shown in formulas (1) to (4):
Figure GDA0002426418080000111
Figure GDA0002426418080000112
Figure GDA0002426418080000113
Figure GDA0002426418080000114
in the three-phase asynchronous motor, under the static coordinate system of α - β, ω is 0, so that the formula (1) can be simplified as follows:
Figure GDA0002426418080000115
substituting (3) into (5) to obtain:
Figure GDA0002426418080000116
wherein
Figure GDA0002426418080000117
Substituting (4) into (2) to obtain:
Figure GDA0002426418080000121
(7) is multiplied by irαMultiplying the following expression by i by the addition of the expression (7)rβObtaining:
Figure GDA0002426418080000122
(6) formula above multiplied by isαPlus the formula multiplied by isβObtaining:
Figure GDA0002426418080000123
substituting (9) into (8) to obtain:
Rrir 2/s+Rsis 2-(usαisα+usβisβ)＝0 (10)
(7) is multiplied by irαThe above expression subtracted by (7) is multiplied by irβObtaining:
Figure GDA0002426418080000124
(6) is multiplied by isαThe above expression subtracted by (6) is multiplied by isβObtaining:
Figure GDA0002426418080000125
substituting formula (12) for formula (11) to obtain:
usβisα-usαisβ-ωsLsis 2+ωsLrir 2＝0 (13)
and is obtained by the formula (10):
ir 2＝s[(usαisα+usβisβ)-Rsis 2]/Rr(14)
substituting (14) for formula (13) to obtain:
A＝usβisα-usαisβ-ωs[Lsis 2+Lr(usαisα+usβisβ-Rsis 2)/(Rr/s)]＝0 (15)
equation (15) is a control objective function for the three-phase asynchronous motor in the static coordinate system.
As described above, the stator voltage vector rotation angular frequency ω is controlled by the PID regulator I according to the A valuesAnd A → 0, namely controlling the motor to stably run according to the corresponding constraint requirement. When A < 0, the motor is weakA magnetic control state; when A is greater than 0, the motor is in a magnetizing control state. The larger | a | is, the stronger the corresponding magnetization increasing or weakening effect is.
The expression shows the value of A and the resistance R of the motor statorsStator inductance L of motorsResistance value R of motor rotorrMotor rotor inductance value LrThe rotor slip s of the motor is related to the measurement precision of current and voltage, and the ASO observer does not need to calculate the rotor angle.
The calculated A value is modulated by a PID regulator to obtain the stator voltage vector rotation angular frequency omegasAnd feeding back to the velocity integrator and the ASO observer. The stator voltage vector rotation angular frequency omega is controlled by a PID regulator I according to the value AsAnd A → 0, namely controlling the motor to stably run according to the corresponding constraint requirement.
Rotor rotation angular frequency omega is also acquired through a rotor rotation angular frequency sensorrAngular frequency of rotation of rotor omegarAnd angular frequency command omega*Form a difference errωDifference errωGenerating a stator reference voltage u by a PID regulator IIs. PID adjustment is performed according to the difference value between the rotor rotation angular frequency and the command angular frequency, so that the stator reference voltage u generated by the fact can be more approximatesAnd the method is closer to actual data, so that later calculation is more accurate.
Stator voltage vector rotation angular frequency omegasGenerating a stator control angle theta through a speed integrator; stator control angle theta and stator reference voltage usGenerating stator α axis voltage value u by sine-cosine coordinate convertersαAnd stator β axis voltage value usβα axial voltage u of statorsαStator β axis voltage value usβCarrying out corresponding space vector modulation through an SVM modulator to generate and output three-phase duty ratio data TaTbTc(ii) a Three-phase duty ratio data TaTbTcAnd generating and outputting a corresponding PWM driving waveform to drive the motor through the PWM inverter. By rotating the angular frequency ω by vector to the stator voltagesThe control of the motor realizes the stable operation of the motor, and the control of the operation of the weak magnetic area is more additiveConvenient and fast, and the motor three-phase current sampling signals are subjected to abc/αβ coordinate transformation to generate stator α axis current value isαAnd stator β axis current value isβAnd sending the current values to an ASO observer, collecting motor phase current and converting the motor phase current into an α - β coordinate system to obtain a stator α shaft current value isαAnd stator β axis current value isβData support is provided for the ASO observer. Stator voltage vector rotation angular frequency omegasStator α axis voltage value usαStator β axis voltage value usβStator α axis current value isαStator β axis current value isβAnd rotor rotation angular frequency omegarAnd generating and outputting the A value to a first PID regulator through an ASO observer. The ASO observer simplifies the algorithm and the control framework, reduces the complexity of the control algorithm and improves the reliability of the system. The rotation speed of the asynchronous motor is slightly changed along with different loads, and the rotation speed of the rotor is lower than that of the magnetic field of the stator. Therefore, based on the principle of asynchronous motors, the rotation angular frequency omega of the rotor needs to be controlledrAnd an ASO observer is carried out to make the obtained data more reliable.
Angular frequency command omega*Frequency of rotation angle omega of rotorrIs (d) difference errωGenerating corresponding stator voltage u after passing through a PID regulator IIsStator voltage vector rotation angular frequency ωsGenerating a stator voltage vector angle theta after passing through a speed integrator; stator voltage usObtaining a stator α axis voltage value u after sine and cosine transformationsαAnd stator β axis voltage value uβα axial voltage u of statorsαAnd stator β axis voltage value uβProviding corresponding driving voltage for the motor through SVM modulation and PWM inverter, and converting the three-phase current of the motor into a stator α shaft current value i through the inverter after samplingsαAnd stator β axis current value isβStator α axis voltage value usαStator β axis voltage value usβStator α axis current value isαStator β axis current value isβStator voltage vector rotation angular frequency omegasAnd rotor rotation angular frequency omegarRespectively sent to an ASO automatic power regulation observer, and automatically adjust the stator voltage vector rotation angular frequency omega according to the A value output by the ASO observersAnd feed backTo a velocity integrator and an ASO observer to achieve closed loop control.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (9)

1. A three-phase asynchronous motor controller based on slip automatic optimization comprises
And a PID regulator II: for obtaining angular frequency command omega*Frequency of rotation angle omega of rotorrIs (d) difference errωAnd generates corresponding stator reference voltage u after regulations；
A speed integrator: for rotating angular frequency omega according to stator voltage vectorsObtaining a corresponding control angle theta after integration;
sine-cosine coordinate converter: connected with the output ends of the PID regulator II and the speed integrator and used for generating a reference voltage u according to the statorsAnd the stator control angle theta generates and outputs a reference voltage corresponding to the α - β coordinate system, namely a stator α shaft voltage value usαAnd stator β axis voltage value usβ；
The SVM modulator is connected with the output end of the sine-cosine coordinate converter and is used for regulating the voltage value u according to the axis voltage of the stator αsαAnd stator β axis voltage value usβCarrying out corresponding space vector modulation and outputting three-phase duty ratio data TaTbTc；
PWM inverter: connected with the output end of the SVM modulator and used for generating three-phase duty ratio data TaTbTcGenerating and outputting a corresponding PWM driving waveform for driving the motor to work;
it is characterized by also comprising
an abc/αβ converter for performing abc/αβ coordinate transformation on the collected three-phase current signals of the motor to generate a stator α shaft current value isαAnd stator β axis current value isβ；
The ASO observer is connected with the output ends of the sine and cosine coordinate converter and the abc/αβ converter, the input end of the ASO observer is also connected with a rotor rotation angular frequency sensor, and the output end of the ASO observer is connected with a PID regulator I for regulating the axial current value i of the stator αsαStator α axis voltage value usαStator β axis current value isβStator β axis voltage value usβStator voltage vector rotation angular frequency omega of feedbacksIn combination with the corresponding rotor rotation angular frequency omegarDetermining motor parameters and control constraint requirements to generate and output an A value to a PID regulator I;
a first PID regulator: the method is used for adjusting the output A value of the ASO observer to generate the corresponding stator voltage vector rotation angular frequency omegasAnd fed back to the velocity integrator and ASO observer.
2. Three-phase asynchronous machine controller automatically optimized on the basis of slip according to claim 1, characterized in that the rotor rotation angular frequency ωrThe value is obtained by a rotor rotation angular frequency sensor, and the difference value err received by the PID regulatorωFor obtaining angular frequency command omega*Frequency of rotation angle omega of rotorrThe difference of (a).
3. Three-phase asynchronous machine controller automatically optimized on the basis of slip according to claim 1 or 2, characterized in that the ASO observer is based on a formula
A＝usβisα-usαisβ-ωs[Lsis 2+Lr(usαisα+usβisβ-Rsis 2)/(Rr/s)]Calculating the value A; PID regulator-control regulation makes A → 0, calculate and generate stator voltage vector rotation angular frequency omegas；
In the formula: a is the output value of the ASO observer, RsIs the motor stator resistance, LsFor motor stator inductance value, RrIs the motor rotor resistance value, LrFor the rotor of an electric machineThe inductance value, s, is the motor rotor and stator slip, omegasFor stator voltage vector rotation angular frequency, isIs stator current, isαIs the stator α axis current value, isβIs the stator β axis current value, usαIs the stator α axis voltage value, usβIs the stator β shaft voltage value.
4. A three-phase asynchronous motor control method based on slip automatic optimization is characterized by comprising the following steps:
(1) obtaining motor stator inductance LsStator resistance value RsMotor rotor inductance value LrMotor rotor resistance RrAnd the rotor slip s of the stator of the motor, and the current, voltage to the three-phase asynchronous machine are sampled;
(2) converting the sampled current values to a stator α, β coordinate system;
(3) according to the formula: a ═ usβisα-usαisβ-ωs[Lsis 2+Lr(usαisα+usβisβ-Rsis 2)/(Rr/s)]So that A → 0, calculate ωs；
In the formula: a is the output value of the ASO observer, RsIs the motor stator resistance, LsFor motor stator inductance value, RrIs the motor rotor resistance value, LrIs the inductance of the motor rotor, s is the motor stator-rotor slip, omegasFor stator voltage vector rotation angular frequency, isIs stator current, isαIs the stator α axis current value, isβIs the stator β axis current value, usαIs the stator α axis voltage value, usβIs the stator β shaft voltage value;
(4) rotating the stator voltage vector obtained by calculation by angular frequency omegasAnd feeding back to the velocity integrator and the ASO observer.
5. The slip-based automatic optimization-based three-phase asynchronous motor control method according to claim 4, wherein the calculated A value is obtained byObtaining stator voltage vector rotation angular frequency omega after first modulation of PID regulatorsAnd feeding back to the velocity integrator and the ASO observer.
6. The slip-based automatic optimization-based three-phase asynchronous motor control method according to claim 4 or 5, further comprising collecting rotor rotation angular frequency ω by a rotor rotation angular frequency sensorrAngular frequency of rotation of rotor omegarAnd angular frequency command omega*Form a difference errωDifference errωGenerating a stator reference voltage u by a PID regulator IIs。
7. Three-phase asynchronous motor control method based on automatic slip optimization according to claim 6, characterized in that the stator voltage vector rotation angular frequency ωsGenerating a stator control angle theta through a speed integrator; stator control angle theta and stator reference voltage usGenerating stator α axis voltage value u by sine-cosine coordinate convertersαAnd stator β axis voltage value usβα axial voltage u of statorsαStator β axis voltage value usβCarrying out corresponding space vector modulation through an SVM modulator to generate and output three-phase duty ratio data TaTbTc(ii) a Three-phase duty ratio data TaTbTcAnd generating and outputting a corresponding PWM driving waveform to drive the motor through the PWM inverter.
8. The method as claimed in claim 7, wherein the motor three-phase current sampling signals are transformed in abc/αβ coordinates to generate stator α axis current value isαAnd stator β axis current value isβAnd sent to the ASO observer.
9. Three-phase asynchronous motor control method based on automatic slip optimization according to claim 8, characterized in that said stator voltage vector rotation angular frequency ωsStator α axis voltage value usαStator β axis voltage value usβStator α axis current value isαStator β axis current value isβAnd rotor rotation angular frequency omegarAnd generating and outputting the A value to a first PID regulator through an ASO observer.
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